U.S. patent number 10,919,527 [Application Number 16/174,936] was granted by the patent office on 2021-02-16 for inertial driving guide apparatus and control method.
This patent grant is currently assigned to Hyundai Motor Company, Kia Motors Corporation. The grantee listed for this patent is Hyundai Motor Company, Kia Motors Corporation. Invention is credited to Jee Wook Huh.
United States Patent |
10,919,527 |
Huh |
February 16, 2021 |
Inertial driving guide apparatus and control method
Abstract
An inertial driving guide apparatus and a control method control
an inertial driving traveling guide apparatus to change a driving
setting for inertial driving if a preceding vehicle is present when
an inertial driving guide is provided. The inertial driving guide
apparatus includes: a navigation system that outputs a traveling
route according to input of a destination of a current vehicle; and
a controller for providing the inertial driving guide for the
current vehicle according to current traveling road conditions
depending on the input route, such that if a preceding vehicle is
present in front of the current vehicle when the inertial driving
guide for the vehicle is provided, the controller is configured to
compare vehicle information on the preceding vehicle with vehicle
information on the current vehicle and to change a driving setting
for inertial driving of the current vehicle.
Inventors: |
Huh; Jee Wook (Gyeonggi-do,
KR) |
Applicant: |
Name |
City |
State |
Country |
Type |
Hyundai Motor Company
Kia Motors Corporation |
Seoul
Seoul |
N/A
N/A |
KR
KR |
|
|
Assignee: |
Hyundai Motor Company (Seoul,
KR)
Kia Motors Corporation (Seoul, KR)
|
Family
ID: |
1000005363912 |
Appl.
No.: |
16/174,936 |
Filed: |
October 30, 2018 |
Prior Publication Data
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|
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Document
Identifier |
Publication Date |
|
US 20190202456 A1 |
Jul 4, 2019 |
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Foreign Application Priority Data
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Dec 28, 2017 [KR] |
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10-2017-0182230 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G01C
21/20 (20130101); G01C 21/26 (20130101); B60W
30/162 (20130101); B60W 50/00 (20130101); G01C
21/16 (20130101); B60W 20/00 (20130101); B60W
2554/804 (20200201); B60Y 2400/61 (20130101); B60K
6/20 (20130101); B60W 2554/801 (20200201); B60W
2050/0008 (20130101); B60Y 2200/92 (20130101) |
Current International
Class: |
B60W
30/16 (20200101); G01C 21/26 (20060101); G01C
21/20 (20060101); B60W 50/00 (20060101); G01C
21/16 (20060101); B60K 6/20 (20071001); B60W
20/00 (20160101) |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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2012-116428 |
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Jun 2012 |
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JP |
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2016-161532 |
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Sep 2016 |
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JP |
|
6106758 |
|
Apr 2017 |
|
JP |
|
10-2009-0062520 |
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Jun 2009 |
|
KR |
|
10-2016-0071989 |
|
Jun 2016 |
|
KR |
|
Primary Examiner: Cheung; Mary
Attorney, Agent or Firm: Mintz Levin Cohn Ferris Glovsky
Corless; Peter F.
Claims
What is claimed is:
1. An inertial driving guide apparatus, comprising: a navigation
system configured to output a traveling route according to an input
of a destination of a current vehicle; and a controller for
providing an inertial driving guide for the current vehicle
according to current traveling road conditions depending on the
input route, wherein, if a preceding vehicle is present in front of
the current vehicle when the inertial driving guide for the current
vehicle is performed, the controller is configured to compare
vehicle information on the preceding vehicle with vehicle
information on the current vehicle and to change a driving setting
for inertial driving of the current vehicle, and wherein the
driving setting includes a target point and a target vehicle speed
set for the inertial driving guide.
2. The inertial driving guide apparatus of claim 1, wherein the
vehicle information on the preceding vehicle, measured by the
controller, includes a distance between the current vehicle and the
preceding vehicle and a speed of the preceding vehicle.
3. The inertial driving guide apparatus of claim 1, wherein the
controller changes the speed of the current vehicle according to
the changed driving setting by controlling creep torque.
4. The inertial driving guide apparatus of claim 3, wherein the
controller performs feedback control in order to control the creep
torque.
5. The inertial driving guide apparatus of claim 1, wherein the
controller changes the driving setting when a time at which a
relative speed of the current vehicle and the preceding vehicle has
been reflected is less than a preset value.
6. An inertial driving guide control method, comprising: outputting
a traveling route, by a navigation system, when a destination of a
current vehicle is input to a navigation system; determining, by a
controller, whether an inertial driving guide for the current
vehicle along the traveling route is required; determining, by the
controller, whether there is a preceding vehicle in front of the
current vehicle when the inertial driving guide for the current
vehicle is required; comparing, by the controller, vehicle
information on the preceding vehicle with vehicle information on
the current vehicle when there is the preceding vehicle in front of
the current vehicle; and changing, by the controller, a driving
setting for inertial driving of the current vehicle when a result
of a comparison between the vehicle information on the current
vehicle and the vehicle information on the preceding vehicle is
less than a comparison value preset in the controller, wherein the
driving setting includes a target point and a target vehicle speed
set for the inertial driving guide.
7. The inertial driving guide control method of claim 6, wherein
the vehicle information on the preceding vehicle includes a
distance between the current vehicle and the preceding vehicle and
a speed of the preceding vehicle.
8. The inertial driving guide control method of claim 6, wherein
the controller changes the speed of the current vehicle according
to the changed driving setting by controlling creep torque.
9. The inertial driving guide control method of claim 8, wherein
the controller performs feedback control in order to control the
creep torque.
10. The inertial driving guide control method of claim 6, wherein
in comparing the vehicle information on the preceding vehicle with
the vehicle information on the current vehicle when the preceding
vehicle is present, the driving setting is changed when a time at
which a relative speed of the current vehicle and the preceding
vehicle has been reflected is less than the preset value.
Description
CROSS-REFERENCE TO RELATED APPLICATION
This application claims under 35 U.S.C. .sctn. 119(a) the benefit
of Korean Patent Application No. 10-2017-0182230 filed on Dec. 28,
2017, the entire contents of which are incorporated herein by
reference.
BACKGROUND
(a) Technical Field
The present disclosure relates to an inertial driving guide
apparatus and a control method thereof, more particularly, to the
inertial driving guide apparatus configured to change a driving
setting for inertial driving of a current vehicle in consideration
of vehicle information on a preceding vehicle and vehicle
information on the current vehicle if the preceding vehicle is
present when an inertial driving guide is provided.
(b) Description of the Related Art
A system for a hybrid vehicle includes an engine and a motor as
vehicle driving sources, and includes an inverter, a DC/DC
converter and a high-voltage battery for operations of the engine
and the motor, and further includes a hybrid control unit (HCU), a
motor control unit (MCU) and a battery management system (BMS).
The high-voltage battery is an energy source for driving the motor
and the DC/DC converter of the hybrid vehicle, and the BMS is a
controller of the high-voltage battery that monitors the voltage,
current and temperature of the high-voltage battery to control the
state of charge (SOC) [%] of the high-voltage battery.
It is known that main driving modes of a hybrid vehicle on the
basis of the aforementioned configuration include an electric
vehicle mode using only motor power and a hybrid electric vehicle
mode that is an auxiliary mode using torque of the engine as main
power and using torque of the motor as auxiliary power. The hybrid
electric vehicle mode includes a regenerative braking (RB) mode of
collecting braking and inertial energy of a vehicle through
generation in the motor and charging the energy in a battery during
braking of the vehicle or inertial driving.
Further, with the recent advent of plug-in hybrid vehicles,
vehicles driven using a Charge-Depleting (CD) driving mode that
causes consumption of battery SOC and a Charge-Sustaining (CS)
driving mode for maintaining battery SOC have been developed.
On the other hand, in the case of plug-in hybrid vehicles, control
strategies for improving vehicle fuel efficiency using creep torque
in a traveling stage have been researched. A plug-in hybrid vehicle
includes a guide apparatus for controlling inertial driving by
setting a route through a navigation system and has a configuration
for providing an inertial driving guide on a vehicle traveling
route.
Accordingly, the inertial driving guide apparatus is configured to
provide the inertial driving guide on a traveling route that
requires inertial driving and to control a vehicle speed using
creep torque when a driver releases an accelerator pedal.
FIG. 1 (RELATED ART) illustrates a conventional control method of
starting a logic according to input of a traveling route (S 1),
providing inertial driving guide (S2), controlling the speed of a
vehicle through creep torque control (S3), and ending the logic
(S5) when the corresponding vehicle arrives at a target point
(S4).
However, the conventional method has a problem that a target point
and a target vehicle speed which are set according to an inertial
driving guide are maintained even when a preceding vehicle is
present on a traveling route that requires the inertial driving
guide, and thus a driver needs to rapidly reduce speed.
SUMMARY
The present disclosure provides an inertial driving guide apparatus
for changing a driving setting for inertial driving of a current
vehicle when a preceding vehicle is present.
In addition, another object of the present disclosure is to provide
a technique of performing an inertial driving guide function in
consideration of vehicle behavior when a preceding vehicle is
present.
Further, another object of the present disclosure is to provide an
inertial driving guide apparatus for performing inertial driving
without brake input when a preceding vehicle is present.
An inertial driving guide apparatus and a control method thereof to
accomplish the aforementioned objects of the present disclosure
include the following configurations.
The present disclosure provides an inertial driving guide apparatus
including: a navigation system configured to output a traveling
route according to input of a destination of a current vehicle; and
a controller for providing an inertial driving guide for the
current vehicle according to current traveling road conditions
depending on the input route, such that if a preceding vehicle is
present in front of the current vehicle when the inertial driving
guide for the current vehicle is provided, the controller is
configured to compare vehicle information on the preceding vehicle
with vehicle information on the current vehicle and to change a
driving setting for inertial driving of the current vehicle.
In addition, the vehicle information on the preceding vehicle,
measured by the controller, may include a distance between the
current vehicle and the preceding vehicle and the speed of the
preceding vehicle.
In addition, the driving setting may include a target point and a
target vehicle speed set for the inertial driving guide.
In addition, the controller may change the speed of the current
vehicle according to the changed driving setting by controlling
creep torque.
In addition, the controller may perform feedback control in order
to control the creep torque.
In addition, the controller may change the driving setting when a
relative speed of the current vehicle and the preceding vehicle is
less than a preset value.
Further, there is provided an inertial driving guide control method
including: outputting a traveling route when a destination of a
current vehicle is input to a navigation system; determining
whether an inertial driving guide for the current vehicle along the
traveling route is required; determining whether there is a
preceding vehicle in front of the current vehicle when the inertial
driving guide for the current vehicle is required; comparing
vehicle information on the preceding vehicle with vehicle
information on the current vehicle when there is the preceding
vehicle in front of the current vehicle; and changing a driving
setting for inertial driving of the current vehicle when a result
of comparison between the vehicle information on the current
vehicle and the vehicle information on the preceding vehicle is
less than a comparison value preset in a controller.
In addition, the vehicle information on the preceding vehicle
includes a distance between the current vehicle and the preceding
vehicle and the speed of the preceding vehicle.
In addition, the driving setting may include a target point and a
target vehicle speed set for the inertial driving guide.
In addition, the controller may change the speed of the current
vehicle according to the changed driving setting by controlling
creep torque.
In addition, the controller may perform feedback control in order
to control the creep torque.
In addition, in the comparing of the vehicle information on the
preceding vehicle with the vehicle information on the current
vehicle when the preceding vehicle is present, the driving setting
is changed when a relative speed of the current vehicle and the
preceding vehicle is less than the preset value.
The present disclosure can obtain the following effects according
to combinations and relation of the above-mentioned embodiments
with configurations which will be described below.
The present disclosure provides an inertial driving guide apparatus
capable of increasing the frequency of inertial driving.
In addition, the present disclosure improves vehicle fuel
efficiency by increasing the frequency of inertial driving.
Further, the present disclosure can provide an inertial driving
guide and control by changing a logic without adding a mechanical
configuration to provide remarkable economic effects.
BRIEF DESCRIPTION OF THE DRAWINGS
The above and other features of the present disclosure will now be
described in detail with reference to certain exemplary embodiments
thereof illustrated in the accompanying drawings which are given
hereinbelow by way of illustration only, and thus are not
limitative of the present disclosure, and wherein:
FIG. 1 (RELATED ART) is a flowchart illustrating a conventional
inertial driving control method through an inertial driving guide
function;
FIG. 2 is a block diagram illustrating a connection relation
between components of an inertial driving guide apparatus according
to an embodiment of the present disclosure;
FIG. 3 illustrates control through the inertial driving guide
apparatus when a preceding vehicle is present according to an
embodiment of the present disclosure; and
FIG. 4 is a flowchart illustrating an inertial driving control
method when a preceding vehicle is present according to an
embodiment of the present disclosure.
It should be understood that the appended drawings are not
necessarily to scale, presenting a somewhat simplified
representation of various preferred features illustrative of the
basic principles of the disclosure. The specific design features of
the present disclosure as disclosed herein, including, for example,
specific dimensions, orientations, locations, and shapes will be
determined in part by the particular intended application and use
environment.
In the figures, reference numbers refer to the same or equivalent
parts of the present disclosure throughout the several figures of
the drawing.
DETAILED DESCRIPTION
It is understood that the term "vehicle" or "vehicular" or other
similar term as used herein is inclusive of motor vehicles in
general such as passenger automobiles including sports utility
vehicles (SUV), buses, trucks, various commercial vehicles,
watercraft including a variety of boats and ships, aircraft, and
the like, and includes hybrid vehicles, electric vehicles, plug-in
hybrid electric vehicles, hydrogen-powered vehicles and other
alternative fuel vehicles (e.g. fuels derived from resources other
than petroleum). As referred to herein, a hybrid vehicle is a
vehicle that has two or more sources of power, for example both
gasoline-powered and electric-powered vehicles.
The terminology used herein is for the purpose of describing
particular embodiments only and is not intended to be limiting of
the disclosure. As used herein, the singular forms "a," "an" and
"the" are intended to include the plural forms as well, unless the
context clearly indicates otherwise. It will be further understood
that the terms "comprises" and/or "comprising," when used in this
specification, specify the presence of stated features, integers,
steps, operations, elements, and/or components, but do not preclude
the presence or addition of one or more other features, integers,
steps, operations, elements, components, and/or groups thereof. As
used herein, the term "and/or" includes any and all combinations of
one or more of the associated listed items. Throughout the
specification, unless explicitly described to the contrary, the
word "comprise" and variations such as "comprises" or "comprising"
will be understood to imply the inclusion of stated elements but
not the exclusion of any other elements. In addition, the terms
"unit", "-er", "-or", and "module" described in the specification
mean units for processing at least one function and operation, and
can be implemented by hardware components or software components
and combinations thereof.
Further, the control logic of the present disclosure may be
embodied as non-transitory computer readable media on a computer
readable medium containing executable program instructions executed
by a processor, controller or the like. Examples of computer
readable media include, but are not limited to, ROM, RAM, compact
disc (CD)-ROMs, magnetic tapes, floppy disks, flash drives, smart
cards and optical data storage devices. The computer readable
medium can also be distributed in network coupled computer systems
so that the computer readable media is stored and executed in a
distributed fashion, e.g., by a telematics server or a Controller
Area Network (CAN).
Hereinafter, the exemplary embodiments of the present disclosure
will be described in detail with reference to the accompanying
drawings. The exemplary embodiments of the present disclosure may
be modified in many different forms, and the scope of the present
disclosure should not be construed as being limited to the
following embodiments. These exemplary embodiments are provided so
that this disclosure will be through and complete and will fully
convey the scope to those skilled in the art.
The present disclosure relates to an inertial driving guide
apparatus and a control method thereof by which a route is set on
the basis of target information input to a navigation system 100,
vehicle information of a preceding vehicle is compared with vehicle
information of a current vehicle when the preceding vehicle is
present on the set route, and a driving setting for inertial
driving is changed when a value indicating the comparison result is
equal to or greater than a value preset in a controller 200.
A hybrid vehicle system disclosed in the present disclosure
includes an engine, a motor and a transmission as vehicle driving
sources 300, includes an inverter, a DC/DC converter and a
high-voltage battery for operations of the engine, the motor and
the transmission, and includes a hybrid control unit (HCU), a motor
control unit (MCU) and a battery management system (BMS) as control
means.
The high-voltage battery is an energy source for driving the motor
and the DC/DC converter of the hybrid vehicle, and the BMS, which
is a controller of the high-voltage battery, monitors the voltage,
current and temperature of the high-voltage battery to control the
state of charge (SOC) [%] of the high-voltage battery.
The controller 200 includes all controllers which set a vehicle
speed and route setting information and provide an inertial driving
guide and control as well as the aforementioned HCU, MCU and BMS,
and an electronic control unit (ECU).
In addition, creep torque configured to decrease the speed of the
vehicle through the inertial driving guide of the present
disclosure is one of the driving sources 300 and is provided by the
motor, and the quantity of the creep torque applied for speed
reduction is determined through the controller 200.
Further, a vehicle speed controlled through the inertial driving
guide is set according to a map stored in the controller 200. The
quantity of the creep torque may be different according to set
map.
An inertial driving guide is information provided to a driver of a
vehicle for inducing the driver not to accelerate the vehicle when
a front vehicle deceleration event is generated so as to improve
fuel efficiency. That is, the "inertial driving guide" is a
function of receiving road analysis information from the navigation
system 100 and indicating an accelerator (accelerator pedal)
release timing on a dashboard 400 when a driving direction change
or a deceleration situation such as entry into a tollgate is
expected, thereby reducing unnecessary use of fuel and improving
fuel efficiency.
Further, the inertial driving guide is configured to be displayed
at a position recognizable by a user, such as a cluster positioned
at the dashboard 400, audio video navigation (AVN), a display or a
head up display (HUD).
The inertial driving guide apparatus of the present disclosure
executes a function of indicating an accelerator pedal release
timing through the dashboard 400 to guide inertial driving and
improve efficiency when a deceleration situation is expected
through a traveling route and road information of the navigation
system 100.
In addition, when the driver releases the accelerator pedal
according to the inertial driving guide, the speed of the vehicle
is controlled in order to perform inertial driving. The controller
200 is configured to set a target vehicle speed and a target point
in order to control inertial driving of the vehicle.
FIG. 2 is a block diagram of the inertial driving guide apparatus
as an embodiment of the present disclosure.
As shown, the inertial driving guide apparatus of the present
disclosure includes the navigation system 100 through which a
destination of a vehicle is set and the controller 20 for setting a
route according to the destination set through the navigation
system 100.
The controller 200 may set a location at which the inertial driving
guide is required according to the driving route set through the
navigation system 100 and change a target vehicle speed and a
target point for inertial driving, which are set depending on
presence or absence of a preceding vehicle.
That is, the controller 200 may determine the location of a route
on which inertial driving can be performed and set a control event
(vehicle control for providing the inertial driving guide and
inertial driving in a specific section, which is referred to as an
event hereinafter) for reaching the target vehicle speed and the
target point on a route on which inertial driving is required.
The event of the present disclosure includes an operation of
determining a location on a traveling route, at which the inertial
driving guide is required, and setting a target vehicle speed and a
target point (point at which control is completed) of a vehicle
according to an accelerator off state to perform inertial driving
control.
Further, when a preceding vehicle is present during inertial
driving control of the present disclosure, the speed of the
preceding vehicle and the distance between the current vehicle and
the preceding vehicle, which are vehicle information of the
preceding vehicle, are compared to the speed of the current
vehicle, and when a time in which the distance between the vehicles
and a relative speed calculated using the speed of the preceding
vehicle and the speed of the current vehicle have been reflected is
less than a comparison value preset in the controller 200, a target
point set according to inertial driving and a target vehicle speed
when the vehicle passes the target point may be changed.
In particular, creep torque generated in the motor may be
controlled to change a torque value applied to reduce the speed of
the current vehicle in order to change the target point and the
target vehicle speed.
That is, inertial driving control performed according to an
accelerator off state is configured to control the current speed of
a vehicle to decrease through at least part of creep torque
generated in the accelerator off state, and when a preceding
vehicle is present, set values of inertial driving control are
changed in consideration of time in which a relative speed has been
reflected.
Further, the inertial driving guide is set by the controller 200
such that it is provided at a distance preset according to a
traveling route of a vehicle. In particular, the inertial driving
guide may be configured to be displayed on the dashboard 400 or a
display provided in a vehicle.
That is, the inertial driving guide apparatus of the present
disclosure is configured to display the inertial driving guide at a
distance preset on a traveling route and to perform inertial
driving control when a driver releases the accelerator pedal while
the inertial driving guide is maintained.
More desirably, the controller 200 of the present disclosure may
control the speed of a vehicle according to an inertial driving
guide event and perform speed control of the vehicle according to a
controlled target speed.
The controller 200 of the present disclosure includes all of
individual controllers for controlling a hybrid vehicle and
includes all components capable of controlling a vehicle speed
according to a traveling route set through the navigation system
100.
In addition, the controller 200 of the present disclosure includes
a location recognition unit including a GPS, a gyro sensor, a
geomagnetic sensor, an acceleration sensor and an inertial sensor
for acquiring information necessary to position a vehicle, a
display capable of receiving information in association with a
camera and a distance sensor 600 (radar 610) and displaying
traveling route information, and a memory 500 including map
information.
The distance sensor 600 may sense external objects of a vehicle,
for example, preceding vehicles traveling in front of the vehicle,
roads, fixed objects including structures installed around roads,
vehicles traveling in opposite lanes, etc.
Although the distance sensor 600 of a vehicle according to an
embodiment of the present disclosure may include the radar 610 or
light detection and ranging (lidar) 620, the distance sensor 600
may be implemented as the lidar 620 for accurate measurement.
The controller 200 includes the GPS, gyro sensor, acceleration
sensor and inertial sensor and may further include a geomagnetic
sensor.
The gyro sensor included in or operating in connection with the
controller 200 of the present disclosure is called a gyroscope or
an angular velocity sensor and detects rotation information of the
corresponding vehicle. Specifically, the gyro sensor can detect a
rotation rate and rotational displacement of a target to be
detected using the law of conservation of angular momentum, the
Sagnac effect and Coriolis force.
The controller 200 of the present disclosure is configured to set a
traveling route in accordance with a destination set through the
navigation system 100 and to operate in connection with sensors
which are included therein and configured to measure various types
of information such as a distance between vehicles, location of the
corresponding vehicle, rotation information of the corresponding
vehicle, and an angle of entry of the vehicle into a crossroad at a
junction when the vehicle travels along the set traveling
route.
In addition, the present disclosure includes the radar 610 or the
lidar 620 through which presence or absence of a preceding vehicle,
the speed of the preceding vehicle, and a distance between the
current vehicle and the preceding vehicle can be measured when the
current vehicle travels.
FIG. 3 illustrates an embodiment of the present disclosure, in
which a target point and a target vehicle speed, which are set
through inertial traveling guide, are changed when there is a
preceding vehicle.
In an embodiment of the present disclosure, the radar 610 is used
as a device for measuring a distance between the current vehicle
and the preceding vehicle, and the distance between the current
vehicle and the preceding vehicle, measured by the radar 610, is
transmitted to the controller 200.
More desirably, the controller 200 which receives the distance
between the current vehicle and the preceding vehicle may be
configured as an HCU. The HCU is configured to determine whether
information on the distance between the current vehicle and the
preceding vehicle is valid and whether the target point and the
target vehicle speed, which are set through inertial traveling
guide, need to be changed on the basis of the preceding
vehicle.
When a relative distance between the preceding vehicle and the
current vehicle is .delta.S, the speed of the preceding vehicle is
V1, and the speed of the current vehicle is V, the controller 200
of the present disclosure is configured to change the target point
and the target vehicle speed set for inertial driving control
if
.delta..times..times..times..times. ##EQU00001## is less than X (a
comparison value) preset in the controller 200.
As described above,
.delta..times..times..times..times. ##EQU00002## is defined as a
time in which the relative time has been reflected in the present
disclosure. When the time in which the relative time has been
reflected is less than X stored in the controller 200, the target
point is changed to a target point considering a distance margin a
of the current vehicle. Specifically, when the location of the
preceding vehicle is set to S1 and the location of the current
vehicle is set to S, the distance between the vehicles is
calculated as .delta.S=S-S1, and when the distance margin a is
considered, the target point is changed to .delta.S-a.
In addition, the target vehicle speed is changed to V1-b by
applying a speed margin b to the speed V1 of the preceding
vehicle.
That is, the controller 200 is configured to change the target
point and the target vehicle speed, which are set in order to
provide the inertial driving guide, by applying the distance margin
and the speed margin to the target distance and the target vehicle
speed when the distance between the preceding vehicle and the
current vehicle is less than the comparison value preset in the
controller 200.
The distance margin and the speed margin used to change the target
point and the target vehicle speed are margins for preventing
collision with the preceding vehicle and may be changed according
to setting.
In summary, when a preceding vehicle is present during operation of
the inertial driving guide,
.delta..times..times..times..times. ##EQU00003## is calculated in
consideration of the distance between the preceding vehicle and the
current vehicle and the speeds of the preceding vehicle and the
current vehicle and compared with the comparison value X set in the
controller 200, and when
.delta..times..times..times..times. ##EQU00004## is less than the
comparison value, the target point and the target vehicle speed set
for an initial inertial driving guide are changed.
In addition, the target point and the target vehicle speed are
changed to a new target point and target vehicle speed in
consideration of the distance margin and the speed margin. As
shown, when there is no preceding vehicle, a specific quantity of
torque is additionally applied in addition to a previously applied
creep torque when the driver releases the accelerator pedal, to
thereby reduce the speed of the vehicle.
Feed forward control is maintained to a switching point, and the
inertial driving guide is displayed through at least one of the
cluster, AVN, display and HUD such that the driver can recognize
that inertial driving is being performed.
Feedback control uses PI control depending on a difference between
a target vehicle speed and a control vehicle speed and a distance
between a target point and a current point. Accordingly, the
current vehicle can be controlled to follow the target speed at the
target point, as shown in FIG. 3.
A switching point at which feed forward control switches to
feedback control refers to a time at which feed forward control
switches to feedback control. Although the time may be determined
by a developer, the time is determined depending on an event type
and a target speed at a target point in the present disclosure.
On the other hand, when control is performed according to a
preceding vehicle, the speed of the current vehicle is controlled
through feedback control for control accuracy because the speed and
location of the preceding vehicle continuously change.
Accordingly, when there is a preceding vehicle, a target vehicle
speed and a target point are changed, feedback control is performed
depending on a difference between the changed target vehicle speed
and the current vehicle speed, and PI control is performed
depending on a difference between the changed target point and the
current location of the current vehicle.
When the current vehicle arrives at the target point through the
above-described control, control is finished. More desirably,
control is finished at a point corresponding to "target point set
through inertial driving guide--distance margin a" when there is no
preceding vehicle, whereas control is finished when the current
vehicle arrives at .delta.S-a when there is a preceding
vehicle.
FIG. 4 is a flowchart illustrating an inertial driving guide
control method according to an embodiment of the present
disclosure.
When a destination is input through the navigation system 100, a
traveling route is set and a logic is started (S10).
At a location at which the inertial driving guide is required on
the traveling route, words of guidance for inertial driving are
displayed through at least one of the cluster of the dashboard 400,
the display, the AVN and the HUD (S11), and it is determined
whether there is a preceding vehicle (S12).
When there is no preceding vehicle, a target point and a target
vehicle speed are set through inertial driving control (S21). Creep
torque is controlled to follow the set target point and target
vehicle speed (S22), and it is determined whether the target point
is reached (S19). When the target point is reached, the logic is
ended (S20).
When there is a preceding vehicle, a distance between the preceding
vehicle and the current vehicle is calculated (S13) and the speed
of the preceding vehicle is calculated (S14).
It is determined whether
.delta..times..times..times..times. ##EQU00005## defined as a time
at which a relative speed between the preceding vehicle and the
current vehicle has been reflected is less than the comparison
value X stored in the controller 200 in consideration of the speed
of the current vehicle on the basis of the distance between the
preceding vehicle and the current vehicle and the speed of the
preceding vehicle (S15).
If the time in which the relative speed has been reflected is
greater than the comparison value, inertial driving is maintained
to follow the initially set target point and target vehicle speed
(S21).
The set target point is changed according to the inertial driving
guide in a driving setting change step (S16), the target vehicle
speed is changed (S17) and the creep torque is controlled (S 18) to
control the speed of the current vehicle.
Thereafter, when a target point changed through vehicle speed
control is reached (S19), the logic is ended (S20).
The disclosure has been described in detail with reference to
preferred embodiments thereof. However, it will be appreciated by
those skilled in the art that the present disclosure may be
implemented in various modifications and alterations via, for
example, addition, change or omission of constituent elements
without departing from the principles and spirit of the disclosure,
and these modifications and alterations are within the scope of the
present disclosure.
In addition, in the description of the embodiments of the present
disclosure, a detailed description of known functions and
configurations incorporated herein is omitted when it may make the
subject matter of the present disclosure rather unclear. In
addition, the terms used in the above description are defined in
consideration of the functions in the embodiments of the present
disclosure, and may be replaced by other terms based on intentions
of users or operators, customs, or the like. Hence, the meanings of
these terms should be based on the whole content of this
specification. Accordingly, the above detailed description of the
present disclosure is not intended to limit the present disclosure
to the disclosed embodiments, and the accompanying claims should be
construed as including other embodiments.
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